Task-space Bipartite Tracking of Networked Robotic Systems via Hierarchical Finite-time Control Published by Wu Yide, Ge Mingfeng et al in Nonlinear Dynamics (2020) School of Mechanical Engineering and Electronic Information

Recently, Wu Yide, a postgraduate in the team of Associate Professor Ge Mingfeng in School of Mechanical Engineering and Electronic Information published his research findings in Nonlinear Dynamics (T1) in the field of nonlinear dynamics as the first author. This paper designed several new finite-time control algorithms and successfully resolved the problem of competitive alignment tracking of networked robotic systems.

Networked robotic system accomplished one or more global tasks in manner of collaboration through the information interaction among the sub-robots and had relatively strong practicability, redundancy and flexibility. Therefore, it accelerated the development of the distributed algorithm related to the robot and focused on the research on the competitive alignment tracking so as to realize various collective behaviors. However, the existing findings could only settle the competitive alignment tracking of the networked robotic systems in the articulatory space. Instead, in the actual application, the control over the movement of the robot was mainly based on the movement of the end effector. Due to singularity, kinematic uncertainty, inverse kinematics and other factors, the existing control algorithm is inapplicable. On the other hand, the rate of convergence is also an important index weighing the advantages of the control algorithm. However, as for the competitive alignment tracking of networked robotic systems, existing findings only can realize the asymptotic convergence of the error state. Therefore, it is urgent to settle finite-time competitive alignment tracking of networked robotic systems.

Aiming at the actual problems above mentioned, considering the effects of the external disturbance, the research team designed two finite-time control algorithms with sliding mode control theory and successfully settled the competitive alignment tracking of networked robotic systems via hierarchical control and filled up the technical gap in this direction.

This paper was supported by National Natural Science Foundation of China (61703374) and the Fundamental Research Funds for the Central Universities of China University of Geosciences (Wuhan) (CUG170656).

Paper information:

Title: Task-space bipartite tracking of networked robotic systems via hierarchical finite-time control

Authors: Yi-De Wu, Ming-Feng Ge, Teng-Fei Ding, Chao-Yang Chen, Guang Ling

Source: Nonlinear Dynamics

DOI: 10.1007/s11071-020-05675-7

Published online: 15, May, 2020

Link: https://doi.org/10.1007/s11071-020-05675-7